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<a href="#nested-classes">类</a> &#124;
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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::registration::TransformationValidationEuclidean&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html" title="TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset.">TransformationValidationEuclidean</a> computes an L2SQR norm between a source and target dataset.  
 <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__validation__euclidean_8h_source.html">transformation_validation_euclidean.h</a>&gt;</code></p>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html">MyPointRepresentation</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal point representation uses only 3D coordinates for L2  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#details">更多...</a><br /></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; PointTarget &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef KdTree::PointRepresentationConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointRepresentationConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget &gt;::PointCloudSourceConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget &gt;::PointCloudTargetConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTargetConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ad0a9993b02007f440f6a70bed4cfabcb">TransformationValidationEuclidean</a> ()</td></tr>
<tr class="memdesc:ad0a9993b02007f440f6a70bed4cfabcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. Sets the <em>max_range</em> parameter to double::max, <em>threshold_</em> to NaN and initializes the internal search <em>tree</em> to a FLANN kd-tree. <br /></td></tr>
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<tr class="memitem:a4d2c5b51f8e414fe6c2eb5d77fd7b7ec"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">setMaxRange</a> (double max_range)</td></tr>
<tr class="memdesc:a4d2c5b51f8e414fe6c2eb5d77fd7b7ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered <em>valid</em>. Default: double::max.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">更多...</a><br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a71682f1eb016eada0311db140d67360a">getMaxRange</a> ()</td></tr>
<tr class="memdesc:a71682f1eb016eada0311db140d67360a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum allowable distance between a point and its correspondence, as set by the user. <br /></td></tr>
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<tr class="memitem:a09e7a63b5ab2e28444fe5fbf3859d8fa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a09e7a63b5ab2e28444fe5fbf3859d8fa">setSearchMethodTarget</a> (const KdTreePtr &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:a09e7a63b5ab2e28444fe5fbf3859d8fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a09e7a63b5ab2e28444fe5fbf3859d8fa">更多...</a><br /></td></tr>
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<tr class="memitem:a088b2fe5791d85b42bc0df60ab159915"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a088b2fe5791d85b42bc0df60ab159915">setThreshold</a> (double threshold)</td></tr>
<tr class="memdesc:a088b2fe5791d85b42bc0df60ab159915"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a threshold for which a specific transformation is considered valid.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a088b2fe5791d85b42bc0df60ab159915">更多...</a><br /></td></tr>
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<tr class="memitem:aa55f5a002921ff508152c24c2433e0ff"><td class="memItemLeft" align="right" valign="top"><a id="aa55f5a002921ff508152c24c2433e0ff"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aa55f5a002921ff508152c24c2433e0ff">getThreshold</a> ()</td></tr>
<tr class="memdesc:aa55f5a002921ff508152c24c2433e0ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the threshold for which a specific transformation is valid. <br /></td></tr>
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<tr class="memitem:a4a3b387d465db596de91c7a3762e95f2"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">validateTransformation</a> (const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a4a3b387d465db596de91c7a3762e95f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Validate the given transformation with respect to the input cloud data, and return a score.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">更多...</a><br /></td></tr>
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<tr class="memitem:a0bf74a138374c51e9e41d1909c82298f"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a0bf74a138374c51e9e41d1909c82298f">operator()</a> (const double &amp;score1, const double &amp;score2) const</td></tr>
<tr class="memdesc:a0bf74a138374c51e9e41d1909c82298f"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_comparator.html" title="Comparator is the base class for comparators that compare two points given some function....">Comparator</a> function for deciding which score is better after running the validation on multiple transforms.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a0bf74a138374c51e9e41d1909c82298f">更多...</a><br /></td></tr>
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<tr class="memitem:ac403119b12dea7d4136448ecf1611549"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ac403119b12dea7d4136448ecf1611549">isValid</a> (const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ac403119b12dea7d4136448ecf1611549"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the score is valid for a specific transformation.  <a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ac403119b12dea7d4136448ecf1611549">更多...</a><br /></td></tr>
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Protected 属性</h2></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a></td></tr>
<tr class="memdesc:a1dc810755f17be1e899ff5015ff4e54e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered <em>valid</em>. Default: double::max. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a></td></tr>
<tr class="memdesc:a266e46430d064eb803d7f2227a8526f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold for which a specific transformation is valid. Set to NaN by default, as we must require the user to set it. <br /></td></tr>
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KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a></td></tr>
<tr class="memdesc:aab533873782c46397466279f20ebe2a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a></td></tr>
<tr class="memdesc:a11eadc8b12005ad20004486a95ebaaa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag which, if set, means the tree operating on the target cloud will never be recomputed <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationValidationEuclidean&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html" title="TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset.">TransformationValidationEuclidean</a> computes an L2SQR norm between a source and target dataset. </p>
<p>To prevent points with bad correspondences to contribute to the overall score, the class also accepts a maximum_range parameter given via <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">setMaxRange</a> that is used as a cutoff value for nearest neighbor distance comparisons.</p>
<p>The output score is normalized with respect to the number of valid correspondences found.</p>
<p>Usage example: </p><div class="fragment"><div class="line">pcl::TransformationValidationEuclidean&lt;pcl::PointXYZ, pcl::PointXYZ&gt; tve;</div>
<div class="line">tve.setMaxRange (0.01);  <span class="comment">// 1cm</span></div>
<div class="line"><span class="keywordtype">double</span> score = tve.validateTransformation (source, target, transformation);</div>
</div><!-- fragment --><dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ac403119b12dea7d4136448ecf1611549"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac403119b12dea7d4136448ecf1611549">&#9670;&nbsp;</a></span>isValid()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">virtual bool <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::isValid </td>
          <td>(</td>
          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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          <td class="paramtype">const PointCloudTargetConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
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          <td class="paramtype">const Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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<p>Check if the score is valid for a specific transformation. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the transformation matrix</td></tr>
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  </dd>
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<dl class="section return"><dt>返回</dt><dd>true if the transformation is valid, false otherwise. </dd></dl>
<div class="fragment"><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordflow">if</span> (pcl_isnan (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationValidationEuclidean::isValid] Threshold not set! Please use setThreshold () before continuing.&quot;</span>);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">validateTransformation</a> (cloud_src, cloud_tgt, transformation_matrix) &lt; <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a266e46430d064eb803d7f2227a8526f5"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">pcl::registration::TransformationValidationEuclidean::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">The threshold for which a specific transformation is valid. Set to NaN by default,...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a4a3b387d465db596de91c7a3762e95f2"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">pcl::registration::TransformationValidationEuclidean::validateTransformation</a></div><div class="ttdeci">double validateTransformation(const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Validate the given transformation with respect to the input cloud data, and return a score.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.hpp:45</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0bf74a138374c51e9e41d1909c82298f">&#9670;&nbsp;</a></span>operator()()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">virtual bool <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::operator() </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>score1</em>, </td>
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          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>score2</em>&#160;</td>
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<p><a class="el" href="classpcl_1_1_comparator.html" title="Comparator is the base class for comparators that compare two points given some function....">Comparator</a> function for deciding which score is better after running the validation on multiple transforms. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">score1</td><td>the first value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">score2</td><td>the second value</td></tr>
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<dl class="section return"><dt>返回</dt><dd>true if score1 is better than score2 </dd></dl>
<div class="fragment"><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> (score1 &lt; score2);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">&#9670;&nbsp;</a></span>setMaxRange()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::setMaxRange </td>
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<p>Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered <em>valid</em>. Default: double::max. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">max_range</td><td>the new maximum allowable distance </td></tr>
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<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a> = max_range;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a1dc810755f17be1e899ff5015ff4e54e"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">pcl::registration::TransformationValidationEuclidean::max_range_</a></div><div class="ttdeci">double max_range_</div><div class="ttdoc">The maximum allowable distance between a point and its correspondence in the target in order for a co...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:219</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a09e7a63b5ab2e28444fe5fbf3859d8fa">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::setSearchMethodTarget </td>
          <td>(</td>
          <td class="paramtype">const KdTreePtr &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>force_no_recompute</em> = <code>false</code>&#160;</td>
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<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
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<div class="fragment"><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        { </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a> = tree; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a11eadc8b12005ad20004486a95ebaaa4"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">pcl::registration::TransformationValidationEuclidean::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_aab533873782c46397466279f20ebe2a0"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">pcl::registration::TransformationValidationEuclidean::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:227</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a088b2fe5791d85b42bc0df60ab159915">&#9670;&nbsp;</a></span>setThreshold()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::setThreshold </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
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<p>Set a threshold for which a specific transformation is considered valid. </p>
<dl class="section note"><dt>注解</dt><dd>Since we're using MSE (Mean Squared Error) as a metric, the threshold represents the mean Euclidean distance threshold over all nearest neighbors up to max_range.</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold for which a transformation is vali </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a> = threshold;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4a3b387d465db596de91c7a3762e95f2">&#9670;&nbsp;</a></span>validateTransformation()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">double <a class="el" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a>&lt; PointSource, PointTarget, Scalar &gt;::validateTransformation </td>
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          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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<p>Validate the given transformation with respect to the input cloud data, and return a score. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix</td></tr>
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  </dd>
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<dl class="section return"><dt>返回</dt><dd>the score or confidence measure for the given transformation_matrix with respect to the input data </dd></dl>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">double</span> fitness_score = 0.0;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// Transform the input dataset using the final transformation</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> input_transformed;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">//transformPointCloud (*cloud_src, input_transformed, transformation_matrix);</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (cloud_src-&gt;size ());</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_src-&gt;size (); ++i)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">const</span> PointSource &amp;src = cloud_src-&gt;points[i];</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    PointTarget &amp;tgt = input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    tgt.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transformation_matrix (0, 0) * src.x + transformation_matrix (0, 1) * src.y + transformation_matrix (0, 2) * src.z + transformation_matrix (0, 3));</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    tgt.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transformation_matrix (1, 0) * src.x + transformation_matrix (1, 1) * src.y + transformation_matrix (1, 2) * src.z + transformation_matrix (1, 3));</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    tgt.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transformation_matrix (2, 0) * src.x + transformation_matrix (2, 1) * src.y + transformation_matrix (2, 2) * src.z + transformation_matrix (2, 3));</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;   }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">typename</span> MyPointRepresentation::ConstPtr point_rep (<span class="keyword">new</span> MyPointRepresentation);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a>)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a>-&gt;setPointRepresentation (point_rep);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a>-&gt;setInputCloud (cloud_tgt);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::vector&lt;int&gt; nn_indices (1);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  std::vector&lt;float&gt; nn_dists (1);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// For each point in the source dataset</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">int</span> nr = 0;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// Find its nearest neighbor in the target</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a>-&gt;nearestKSearch (input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], 1, nn_indices, nn_dists);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// Deal with occlusions (incomplete targets)</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">if</span> (nn_dists[0] &gt; <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a>)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// Calculate the fitness score</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    fitness_score += nn_dists[0];</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    ++nr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (nr &gt; 0)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> (fitness_score / nr);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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